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The accuracy dependency investigation of simultaneous localization and mapping on the errors from mobile device sensors
V. V. Myasnikovab, E. A. Dmitrieva
a Samara National Research University, 443086, Samara, Russia, Moskovskoye Shosse 34
b IPSI RAS – Branch of the FSRC “Crystallography and Photonics” RAS, 443001, Samara, Russia, Molodogvardeyskaya 151
Monocular Simultaneous Localization and Mapping (SLAM) is one of the most complex and well-known problems, affecting several scientific fields: robotics, computer vision, virtual reality. This paper aims to study the SLAM problem for the mobile device with a monocular camera and sensors: accelerometer, gyroscope and digital compass. The latter allow to obtain an additional estimation of a mobile device position and orientation. The aim is to assess the potential suitability and efficiency of using extra information from inertial sensors to improve the solution quality and to reduce the time to obtain the solution. The experimental part of the study, including both model and field experiments, allowed to determine the requirements for permissible errors introduced by the sensors of the mobile device. For a specific model of a mobile device, it is shown that the electronic compass meets these requirements, while the errors of the inertial sensors used to determine the movements are unacceptably large.
SLAM, visual odometry, scene reconstruction, mapping, mobile device, inertial sensors, compass.
|Ministry of Science and Higher Education of the Russian Federation
|Russian Foundation for Basic Research
|This work was supported by the Ministry of Science and Higher Education within the State assignment FSRC "Crystallography and Photonics" RAS (agreement 007-ÃÇ/×3363/26) in part of "Introduction" and "KSLAM systems architecture and review of the research current state", and Russian Foundation for Basic Research (Projects No. No. 18-01-00748 and 17-29-03190-ofi) in part of (2) "Estimation of errors of personal mobile phone sensors" - (4) "The study of the dependence of the accuracy of the solution of the problem of monocular KSLAM from the errors introduced by the sensors of mobile device".
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V. V. Myasnikov, E. A. Dmitriev, “The accuracy dependency investigation of simultaneous localization and mapping on the errors from mobile device sensors”, Computer Optics, 43:3 (2019), 492–503
Citation in format AMSBIB
\by V.~V.~Myasnikov, E.~A.~Dmitriev
\paper The accuracy dependency investigation of simultaneous localization and mapping on the errors from mobile device sensors
\jour Computer Optics
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